丘陵山地轨道农机具转运平台防失稳系统设计与试验

Design and Test of Anti-instability System of Hilly and Mountain Track Agricultural Machinery Transfer Platform

摘要:

针对丘陵山地轨道运输平台转运农机具易失稳、运输安全性差等问题，设计了一种山地轨道运输平台防失稳液压自动调平系统。系统采用三轴加速度传感器实时监测平台姿态，开发了以平台Z轴倾角为输入的PSO模糊PID（PSO Fuzzy-PID）调平控制器，并进行仿真试验与实机测试。仿真结果显示，在单位阶跃信号下，基于PSO Fuzzy-PID算法的系统响应时间为0.181s，超调量为0。静态实机试验结果显示，在室内轨道倾角为4°、7°和10°下，PSO Fuzzy-PID算法调平误差的标准差平均值为0.068°，最大调平误差控制在0.45°以内。动态实机试验结果显示，系统滞后时间小于0.4s，可保证平台在-0.079°~0.497°范围内波动，满足±10°范围内平台精准调平的需求。研究结果验证了本系统的有效性，表明其在工程应用场景中有实际应用价值。

Abstract:

Hilly and mountainous regions are characterized by complex terrain and agricultural machinery with high centers of gravity, which often leads to instability and rollover risks during rail transport operations. To address this challenge, a hydraulic automatic leveling anti-instability system for a mountain rail transport platform was proposed. The system integrated an ADXL345 triaxial accelerometer for real-time attitude monitoring and employed a particle swarm optimization fuzzy PID (PSO Fuzzy-PID) controller, using the platform’s Z-axis tilt angle as the feedback variable. A simulation model was established in Simulink to compare the performance of conventional PID, fuzzy PID, and PSO Fuzzy-PID controllers. Simulation results demonstrated that the PSO Fuzzy-PID controller achieved a rapid response time of 0.181s with zero overshoot, and outperformed conventional PID and fuzzy PID controllers in terms of adjustment time, stability, and overall dynamic response. Static experimental tests were conducted under track inclinations of 4°, 7°, and 10°, and the PSO Fuzzy-PID controller yielded an average leveling error standard deviation of only 0.068°, with maximum error constrained within 0.45°. The average leveling time was reduced by approximately 6.3% and 15.6% compared with that of fuzzy PID and conventional PID, respectively. Dynamic experiments further revealed that the system maintained a response delay below 0.4s, with platform attitude fluctuations confined to -0.079° to 0.497°, thereby meeting the precise leveling requirement within ±10°. These results confirmed the effectiveness and reliability of the proposed PSO Fuzzy-PID based hydraulic leveling system. The system significantly enhanced the operational stability and safety of agricultural machinery transport on hilly rail platforms, providing valuable technical support for the intelligent development and practical application of agricultural transport equipment in mountainous regions.